gtsam::ConstantTwistScenario Class Reference

#include <Scenario.h>

Inheritance diagram for gtsam::ConstantTwistScenario:

Public Member Functions
Vector3	acceleration_n (double t) const override
	acceleration in nav frame More...
	ConstantTwistScenario (const Vector3 &w, const Vector3 &v, const Pose3 &nTb0=Pose3())
	Construct scenario with constant twist [w,v]. More...
Vector3	omega_b (double t) const override
	angular velocity in body frame More...
Pose3	pose (double t) const override
	pose at time t More...
Vector3	velocity_n (double t) const override
	velocity at time t, in nav frame More...
Public Member Functions inherited from gtsam::Scenario
Vector3	acceleration_b (double t) const
NavState	navState (double t) const
Rot3	rotation (double t) const
Vector3	velocity_b (double t) const
virtual	~Scenario ()
	virtual destructor More...

Private Attributes
const Vector3	a_b_
const Pose3	nTb0_
const Vector6	twist_

Detailed Description

Scenario with constant twist 3D trajectory. Note that a plane flying level does not feel any acceleration: gravity is being perfectly compensated by the lift generated by the wings, and drag is compensated by thrust. The accelerometer will add the gravity component back in, as modeled by the specificForce method in ScenarioRunner.

Definition at line 60 of file Scenario.h.

Constructor & Destructor Documentation

gtsam::ConstantTwistScenario::ConstantTwistScenario ( const Vector3 &  w, const Vector3 &  v, const Pose3 &  nTb0 = Pose3()  )

inline

Construct scenario with constant twist [w,v].

Definition at line 63 of file Scenario.h.

Member Function Documentation

Vector3 gtsam::ConstantTwistScenario::acceleration_n ( double  t ) const

inlineoverridevirtual

acceleration in nav frame

Implements gtsam::Scenario.

Definition at line 74 of file Scenario.h.

Vector3 gtsam::ConstantTwistScenario::omega_b ( double  t ) const

inlineoverridevirtual

angular velocity in body frame

Implements gtsam::Scenario.

Definition at line 70 of file Scenario.h.

Pose3 gtsam::ConstantTwistScenario::pose ( double  t ) const

inlineoverridevirtual

pose at time t

Implements gtsam::Scenario.

Definition at line 67 of file Scenario.h.

Vector3 gtsam::ConstantTwistScenario::velocity_n ( double  t ) const

inlineoverridevirtual

velocity at time t, in nav frame

Implements gtsam::Scenario.

Definition at line 71 of file Scenario.h.

Member Data Documentation

const Vector3 gtsam::ConstantTwistScenario::a_b_

private

Definition at line 78 of file Scenario.h.

const Pose3 gtsam::ConstantTwistScenario::nTb0_

private

Definition at line 79 of file Scenario.h.

const Vector6 gtsam::ConstantTwistScenario::twist_

private

Definition at line 77 of file Scenario.h.

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The documentation for this class was generated from the following file:

• Scenario.h